from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='cloud_filter',
            executable='filter_node',
            name='filter_node',
            output='screen'
        ),
        Node(
            package='cloud_filter',
            executable='MarkerViz',
            name='marker_viz',
            output='screen',
        ),
        Node(
            package='rviz2',
            executable='rviz2',
            name='rviz2',
            output='screen',
            arguments=['-d', 'src/cloud_filter/rviz/pointcloud_filter_visualize.rviz']
        )
    ])
